Obstacle Avoiding Robot- Compact

//This is the code for the robot
// make sure to  include the NewPing and Servo Libraries  before uploading else it will show error

#include <NewPing.h>
#include <Servo.h>
#define TRIG_PIN A4
#define ECHO_PIN A5
#define MAX_DISTANCE 200
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
Servo myservo;

boolean goesForward = false;
int distance = 100;
int speedSet = 0;

//Motor A
const int motorPin1  = 11;
const int motorPin2  = 10;
//Motor B
const int motorPin3  = 6;
const int motorPin4  = 5;


void setup()
{


  myservo.attach(9);
  myservo.write(115);
  delay(2000);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  
}


void loop()
{

  int distanceR = 0;
  int distanceL =  0;
  delay(40);

  if (distance <= 15)  // Adjust the value 15 accordingly to let your robot stop at desired distance from the robot
  {
    moveStop();
    delay(100);
    moveBackward();
    delay(600);
    moveStop();
    delay(200);
    distanceR = lookRight();
    delay(200);
    distanceL = lookLeft();
    delay(200);
    if (distanceR >= distanceL)
    {
      turnRight();
      moveStop();
    } else
    {
      turnLeft();
      moveStop();
    }
  }
  
  else
  {
    moveForward();
  }
  distance = readPing();
}





int lookRight()
{
  myservo.write(50);
  delay(500);
  int distance = readPing();
  delay(100);
  myservo.write(115);
  return distance;
}

int lookLeft()
{
  myservo.write(170);
  delay(500);
  int distance = readPing();
  delay(100);
  myservo.write(115);
  return distance;
  delay(100);
}

int readPing() {
  delay(70);
  int cm = sonar.ping_cm();
  if (cm == 0)
  {
    cm = 250;
  }
  return cm;



}


void moveStop() {
  analogWrite(motorPin1, 0);
  analogWrite(motorPin2, 0);
  analogWrite(motorPin3, 0);
  analogWrite(motorPin4, 0);
}


void moveForward() {
  analogWrite(motorPin1, 255);   //the value 0 - 255 here is a PWM so you can change it to increase or decrease your motor speed
  analogWrite(motorPin2, 0);
  analogWrite(motorPin3, 235);    // this one too is the PWM for other motor
  analogWrite(motorPin4, 0);

}
void moveBackward() {

  analogWrite(motorPin1, 0);
  analogWrite(motorPin2, 255);
  analogWrite(motorPin3, 0);
  analogWrite(motorPin4, 255);

}
void turnRight() {
  analogWrite(motorPin1, 255);
  analogWrite(motorPin2, 0);
  analogWrite(motorPin3, 0);
  analogWrite(motorPin4, 255);
  delay(500);
  moveForward();

}

void turnLeft() {
  analogWrite(motorPin1, 0);
  analogWrite(motorPin2, 255);
  analogWrite(motorPin3, 255);
  analogWrite(motorPin4, 0);
  delay(500);
  moveForward();
}